Gripper for an automated manipulator and method for operation of the gripper

ABSTRACT

A manipulator gripper in particular for palletizing and/or depalletizing bundles by means of a robot, has a tool flange for connection to a manipulator; a clamp stop and a counter-stop. Both extend along a lowering axis. A support base extends toward the counter-stop in an insertion plane. The counter-stop and/or the clamp stop can be shifted toward the insertion plane of the support base along the lowering axis, relative to the tool flange.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention concerns a manipulator gripper, in particular forpalletizing and/or depalletizing bundles by means of a robot, as well asa method for handling a bundle by means of an automated manipulator withsuch a gripper.

2. Description of the Prior Art

In many fields, one or more layers of goods bundles—that, for example,can be bound in containers, on trays or by packing means or packing aids(such as films)—of individual goods are stacked on conveyors (forexample belt, chain or roller conveyors) as well as on transport aids(in particular pallets, table shelves or the like) and are thereforeassembled, for example for transport, storage or sale. A layer orpartial layer of such individual goods and/or goods bundles (inparticular also an individual good or a goods bundle alone) issubsequently uniformly designated as a bundle.

Typical examples are homogeneous or mixed stacks of drink cases,Tetrapaks or the like. A widespread application is the assembly of amixed pallet of goods based on an order of a retail store at awholesaler: the goods ordered by the retailer are assembled from astorage [warehouse] of the wholesaler. The desired goods are therebytaken from homogeneous pallets and individually assembled on a deliverypallet according to the customer order. The mixed, consigned pallet isthen delivered to the retailer.

A multi-axis manipulator gripper for depalletizing of stacked bundles isknown from WO 2007/131668 A1. This has two movable support bases thatdrive under a layer in a closing motion and lift the layer with apositive fit by rollers that are rotated by a motor on the front sidesof the support bases that face one another. By means of a movableclamping stop, the layer can be braced against a fixed counter-stopafter being supported on the support bases that have been slid together.At right angles to this, the layer can be centered by additional,movable mechanical stops on the support bases and be pinned down.

A disadvantage of this known gripper is that the bundle take-up andplacement possibilities of this gripper are limited. For example, due tothe insertion movement of the support bases from the outside on bothsides a bundle standing on a stop cannot be accepted and placed, inparticular a bundle that is arranged without any or only with a small,distance from adjacent bundles or other boundaries in the layer cannotbe accepted and placed. Only freestanding layers can be picked up.

SUMMARY OF THE INVENTION

An object of the present invention is to improve the handling of bundlesby means of a manipulator.

A manipulator gripper according to the invention is particularly suitedfor palletizing and/or depalletizing bundles, i.e. to place or take uplayers or partial layers of individual goods and/or goods bundles on orfrom a supporting surface (in particular a conveyor, a conveyor means oran additional layer or partial layer of individual goods or goodsbundles) by means of a manipulator, in particular an articulated orportal robot.

The manipulator gripper has a tool flange for connection to themanipulator that is preferably connected in a detachable manner with arobot hand or, respectively, a tool holding fixture of the manipulatoror is fashioned integrally with this. Arranged on the tool flange are aclamp stop and a counter-stop that both extend with a stop surface alonga lowering axis as well as a support base that extends in an insertionplane toward the counter-stop.

According to the invention, the counter-stop and/or the clamp stop canbe slid along a first movement axis (designated in the following as alowering axis) relative to the tool flange toward the insertion plane ofthe support base, wherein a movement toward the insertion plane isgenerally designated as “lowering” in the following (without limitationof the generality); a movement away from the insertion plane isdesignated as “raising”.

In that a stop is lifted away upon taking up an acceptance or,respectively, placement position of the bundle away from the insertionplane of the support floor along the lowering axis, bundles standing onthe stop can also be handled, wherein the stop can advantageously belowered along the lowering axis and thus the bundle can be fixed when itis not standing on the stop. In addition to this, an approach withdifferent gripper orientations relative to the bundle is alsoadvantageously possible.

The support base can be slid behind (in particular under) the bundle viaa corresponding insertion movement of the gripper. In a preferredembodiment, however, the manipulator gripper is fashioned in amulti-axis design in that the support base can be shifted towards thecounter-stop along a second movement axis (subsequently designated asthe insertion axis) in the insertion plane, relative to the tool flange.A bundle can hereby also be gripped with the support base from behind,even given a gripper standing still relative to it, advantageously fromthe side facing away from the tool flange. The lowering axis preferablystands essentially at a right angle to the insertion plane.

Corresponding recesses (clearances; gaps) for the support base at theside of the bundle and/or the supporting surface are advantageouslyprovided for the insertion of the support base behind one side of thebundle. For example, a fork-shaped support base can be slid intointerstices of a conveyor chain or recesses of a pallet on which thebundle rests.

In a preferred embodiment, the bundle can be fixed (in particularclamped) positively or non-positively between the pusher stop and thecounter-stop. For this the distance between clamp stop and counter-stopis reduced along a clamp axis. This can ensue in that the clamp stop isformed by the support base, in particular an angle flange of the supportbase. In that the support base is shifted towards the counter-stop alongthe insertion axis, relative to the tool flange, the distance betweenclamp stop and counter-stop is reduced. Additionally or alternatively,the counter-stop can also be fashioned so as to be shiftable towards theclamp stop, relative to the tool flange.

In a preferred embodiment, the clamp stop is a component separate fromthe support base and which can be shifted towards the counter-stop alongthe clamp axis, relative to the tool flange and the support base.Insertion axis and clamp axis (which clamp axis thus forms a thirdmovement axis of the manipulator gripper, which then has at least threeaxis) are preferably oriented essentially aligned parallel to oneanother or aligned with one another.

To release the bundle fixed non-positively and/or positively bycounter-stop and the clamp stop, in reverse the distance between clampstop and counter-stop is increased along the clamp axis, in particularin that the clamp stop is slid away from the counter-stop along theclamp axis.

If support base and clamp stop are slid apart from one another byshifting the support base along the insertion axis and/or sliding theclamp stop along the clamp axis, the bundle can be slid down from thesupport base (“pushed off”, so to speak).

By means of an (in particular three-axis) gripper according to theinvention, a bundle can be handled in many ways, in particular be pickedup from a supporting surface or be placed on it. Different basicpatterns can thereby be advantageously combined with one another:

By reducing the distance between clamp stop and counter-stop, inparticular by sliding the clamp stop along the clamp axis towards thecounter-stop, the bundle can be fixed non-positively and/or positivelybetween clamp stop and counter-stop, wherein the counter-stop and/or theclamp stop is lowered along the lowering axis.

Both a take-up that is free of play (in particular a non-positivetake-up) and a securing that is subject to play are thereby designatedas “fixing”. If the distance between clamp stop and counter-stop issmaller than the corresponding outer dimension of the undeformed bundle,this is clamped positively under a (possibly slight) deformation ofbundle, clamp stop and/or counter-stop. By contrast, if the distancebetween clamp stop and counter-stop corresponds to at least thecorresponding outer dimension of the undeformed bundle, this is securedagainst falling off on the support base.

In order to release the fixing, the distance between clamp stop andcounter-stop is enlarged, in particular in that the clamp stop isshifted away from the counter-stop along the clamp axis.

By an at least partial insertion of the support base behind one side ofthe bundle (which can ensue by shifting the support base relative to thetool flange and/or shifting the tool flange along the insertion axis),the bundle can be fixed positively on the support base. If an undersideof the bundle is thereby engaged from behind or below, the gripper(also) acts as a fork-type grabber.

The bundle is slid down from the support base by sliding apart supportbase and clamp stop, which can ensue by shifting the support base alongthe insertion axis and/or shifting the clamp stop along the clamp axis.

By shifting the gripper or tool flange in the insertion plane towardsthe support base with opposite shifting of the support base relative tothe tool flange, a bundle can be shifted by the lowered counter-stopfrom a supporting surface onto the support base arranged next to this.In reverse, a bundle can be released by shifting the gripper away fromthe support base in the insertion plane with opposite sliding apart ofsupport base and clamp stop.

A bundle can analogously be shifted by the lowered support base from asupporting surface onto the counter-stop arranged next to this if, givena rotated gripper, the lowering plane of the counter-stop (in which thisextends and can be shifted) is positioned behind the side of the bundlefacing away from the support base given a counter-stop that is notcompletely lowered along the lowering axis, by shifting the gripper ortool flange away from the insertion plane of the support base in thelowering plane of the counter-stop with opposite lowering of thecounter-stop toward the insertion plane of the support base along thelowering axis.

If the bundle is fixed non-positively and/or positively between dampstop and counter-stop, it can be reoriented relative to the manipulatorby rotating the gripper.

The clamp stop, the counter-stop and/or the support base canrespectively exhibit an essentially continuous, in particularessentially flat or offset (stepped) plate for placement on the bundle.Additionally or alternatively, clamp stop, counter-stop and/or supportbase can exhibit a single-pronged or multi-pronged fork whose prongs canadvantageously drive into recesses between bundle and supportingsurface, for example into the receptacles of a pallet or the intersticesof a chain conveyor.

The clamp stop, the counter-stop and/or the support base canadvantageously be shifted independent of one another along therespective movement axis by a respective, separate, advantageouslypneumatic, hydraulic, electromagnetic and/or electromotorized driveactuator). Two or three of the clamp stop, the counter-stop and thesupport base can also be similarly coupled with one another and moved bya common drive. The clamp stop, the counter-stop and/or the support baseare preferably shifted actively or driven, which increases thereliability of the movements and in particular also enables a targeted(for example successive) movement sequence.

In a preferred embodiment, the tool flange is fashioned for a rotatingmotion connecting the gripper to a manipulator. For this it can inparticular possesses a tracking device for pneumatic, hydraulic and/orelectrical connections between the gripper and the manipulator, forexample a trailing cable installation that advantageously enablesrotation movements by at least 180°. Trailing pneumatic, hydraulic orelectrical connections or autonomous drives for clamp stop, counter-stopand/or support base are also similarly possible.

To detect a position of the gripper relative to a bundle and/or asupporting surface for the bundle, according to a preferred embodiment amanipulator gripper possesses a sensor arrangement with one or moresensors (in particular distance sensors or imaging sensors).

In a preferred embodiment, an angle flange of the support base isarranged along the insertion axis on the side of the clamp stop facingaway from the counter-stop so that the clamp stop is accommodatedbetween counter-stop and angle flange. A support plate of the supportbase that is bent counter to the angle flange can then advantageously beshifted toward the counter-stop along the insertion axis, behind theside of the clamp stop facing away from the tool flange. This enables acompact design of the gripper.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a manipulator gripper according to an embodiment of thepresent invention, in perspective view.

FIGS. 2A-2C show pick-up and placement of a bundle with the manipulatorgripper of FIG. 1 according to a method according to an embodiment ofthe present invention.

FIGS. 3A-3D show pick-up and placement of a bundle with the manipulatorgripper of FIG. 1 according to a method according to a furtherembodiment of the present invention.

FIGS. 4A-4C show pick-up and placement of a bundle with the manipulatorgripper of FIG. 1 according to a method according to a furtherembodiment of the present invention.

FIGS. 5A-5E show pick-up and placement of a bundle with the manipulatorgripper of FIG. 1 according to a method according to a furtherembodiment of the present invention.

FIGS. 6A-6F show pick-up of a bundle with the manipulator gripper ofFIG. 1 according to a method according to a further embodiment of thepresent invention.

FIGS. 7A-7D show placement of a bundle with the manipulator gripper ofFIG. 1 according to a method according to a further embodiment of thepresent invention.

FIGS. 8A-8E show a pickup and placement of a bundle with the manipulatorgripper of FIG. 1 according to a method according to a furtherembodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 1 shows a manipulator gripper 10 for palletizing and depalletizingbundles 20 by means of an articulated arm robot (not shown). Itcomprises a tool flange 6 for connection to the articulated arm robot. Atrailing cable installation enables rotation movements by ±225°.

A bent support base 3 with its angle flange 3.1 is borne on the toolflange 6 such that said support base 3 can be shifted, and extends witha support plate 3.2 in an insertion plane E (see FIG. 2B) towards acounter-stop 2. This can be shifted on a lowering axis a towards theinsertion plane E of the support base 3. A clamp stop 1 extends parallelto the counter-stop 2 along the lowering axis a and can be shiftedrelative to the tool flange 6 and the support base 3 along a clamp axisk towards the counter-stop 2. The support base 3 can be shifted,relative to the tool flange 6, towards the counter-stop 2 in theinsertion plane E along an insertion axis essentially parallel to theclamp axis k.

Lowering axis a, insertion axis e and clamp axis k thus form themovement axis of the three-axis manipulator gripper 10 and are drivenindependent of one another, for example pneumatically, hydraulically,electromagnetically or in an electromotorized manner. The lowering axisis thereby essentially at a right angle to the insertion plane E. Sincethe angle flange 3.1 of the support base 3 is arranged on the side ofthe clamp stop 1 facing away from the counter-stop 2, the support plate3.2 can be slid through behind the side of the clamp stop (below in FIG.1, 2) facing away from the tool flange 6.

Sensors 4, 5 detect the lateral position of the gripper 10 relative tothe bundle 20 and the height at the supporting surface 30 for thebundle.

The Figure sequence FIG. 2A→FIG. 2B→FIG. 2C shows a pick-up of thebundle 20 with the manipulator gripper 10, wherein movements in the axisa, e and k are indicated by solid arrows.

First, counter-stop 2 and clamp stops 1 are positioned on both sides ofthe bundle 20, wherein counter-stop 2 is lowered beforehand, during thisor subsequently along the lowering axis a (FIG. 2A). Clamp stop 1 isthen shifted along the clamp axis k onto the counter-stop 2 in order topositively clamp the bundle 20 between clamp stop 1 and counter-stop 2(FIG. 2B) before the bundle 20 (now gripped by clamp stop 1 andcounter-stop 2) is raised from the supporting surface 30 (FIG. 2C).

The Figure sequence FIG. 2C→FIG. 2B→FIG. 2A shows in reverse theplacement of the bundle 20 by the manipulator gripper 10, whereinmovements in the axis a, e and k are indicated by dashed arrows.

In a first step, the bundle 20 gripped by clamp stop 1 and counter-stop2 is lowered onto the supporting surface 30 (FIG. 20). Alternatively,this step can also be omitted, such that the bundle 20 is dropped ontothe supporting surface 30.

Clamp stop 1 is then shifted away from the counter-stop 2 along theclamp axis k (FIG. 2B) and the bundle 20 is thereby released, such thatgripper 10 can subsequently be positioned away from the bundle 20 (FIG.2A).

The Figure sequence FIG. 3A⇄FIG. 3B⇄FIG. 3C⇄FIG. 3D shows a pick-up orplacement of the bundle 20 with the manipulator gripper 10 in a mannercorresponding to FIG. 2A through 2C.

For pick-up, the gripper 10 is positioned next to the bundle 20 suchthat the insertion plane E of the support base 3 is arranged below theunderside of the bundle 20 (FIG. 3A). In order to enable an approachfrom the right side in FIG. 3A, counter-stop 2 is raised.

Support base 3 is now inserted under the underside of the bundle 20facing away from the tool flange 6 (FIG. 3B). For this, correspondingrecesses (not shown) are fashioned on the supporting surface 30 or theunderside of the bundle 20.

The counter-stop 2 (raised for approach) is lowered (FIG. 3C).

Clamp stop 1 is then shifted towards the counter-stop 2 along the clampaxis k in order to positively damp the bundle 20 between clamp stop 1and counter-stop 2 (FIG. 3D), wherein the support base 3 can possiblyalso be shifted further towards the counter-stop 2 along the insertionaxis e.

The bundle 20 (positively clamped by clamp stop 1 and counter-stop 2)can now be raised from the supporting surface 30.

The placement can ensue analogously in the reverse order FIG. 3D→FIG.3C→FIG. 3B→FIG. 3A indicated by dashed arrows. The bundle 20 can therebybe pushed away from the support plate 3.2 by sliding apart support base3 and clamp stop 1 by means of shifting the support base 3 away from theclamp stop 1 along the insertion axis e (FIG. 3A).

The Figure sequence FIG. 4A⇄FIG. 4B⇄FIG. 4C shows a pick-up or,respectively, placement of the bundle 20 with the manipulator gripper 10in a manner corresponding to FIG. 2 a through 2C, which is particularlyadvantageous when no recesses for the support base 3 are fashioned onthe support surface 30 and the underside of the bundle 20.

For pick-up, as in FIG. 3A the gripper 10 is initially positioned (withraised counter-stop 2) next to the bundle 20 such that the insertionplane E of the support base 3 is arranged below the underside of thebundle 20 (FIG. 4A).

Now the counter-stop 2 is lowered and the clamp stop 1 is shiftedtowards the counter-stop 2 along the clamp axis k in order to clamp thebundle 20 positively between clamp stop 1 and counter-stop 2 (FIG. 4B).

Via a displacement of the gripper 10 towards the support base 3 in theinsertion plane E (to the right in FIG. 4) with simultaneous, oppositedisplacement of the support base 3 relative to the tool flange 10 (tothe left in FIG. 4), the bundle 20 clamped between clamp stop 1 andcounter-stop 2 is shifted from the support surface 30 onto the supportbase 3 positioned next to it (FIG. 4C).

The placement can ensue analogously in the reverse order FIG. 4C→FIG.4B→FIG. 4A (indicated by dashed arrows).

The Figure sequence FIG. 5A⇄FIG. 5B⇄FIG. 50⇄FIG. 5D⇄FIG. 5E shows apick-up or placement of the bundle 20 with the manipulator gripper 10 ina manner corresponding to FIG. 3A through 3D. Only the differences fromthe method according to FIG. 3A through 3D are explained in thefollowing.

In FIG. 5A the support base 3 is not inserted into recesses betweensupport surface 30 and bundle 20 but rather is inserted below theplastic conveyor chain 30 that thus opposes a raising of the bundle 20upward with the support base 3.

Therefore, in FIG. 3D, 3D or FIG. 5C, 5D the bundle 20 damped betweenclamp stop 1 and counter-stop 2 can be shifted from the plastic conveyorchain 30 via a movement of the gripper 10 laterally in the insertionplane E (to the right in FIG. 5E) before it can then be raised along thelowering axis a, for example.

The placement can ensue analogously in the reverse order FIG. 5D→FIG.5C→FIG. 5B→FIG. 5A (indicated by dashed arrows).

The Figure order FIG. 6A, 6B→FIG. 6C→FIG. 6D→FIG. 6E→FIG. 6F shows apick-up of a bundle 20 standing on a stop in a manner corresponding toFIG. 2A through 20, wherein FIG. 6B shows a plan view of FIG. 6A alongthe insertion or, respectively, clamp axis e or, respectively, k.

The gripper is initially positioned with counter-stop 2 raised along thelowering axis a, as described with relation to FIG. 3A, 3B, wherein itssupport base 3 is inserted into corresponding recesses on the supportingsurface 30 or the underside of the bundle 20 (not shown) (FIG. 6A→6C).

The gripper 10 is then raised away from the insertion plane E of thesupport base 3 along the lowering axis a (FIG. 6D) so that the bundle 20is raised by the support base 3 and comes clear against an adjacentbundle or another stop. Optionally, the counter-stop 2 that was raisedto approach the bundle 20 standing on the stop can then subsequently belowered (FIG. 6A), as described with reference to FIG. 3C, 3D, beforethe clamp stop 1 is shifted towards the counter-stop 2 along the clampaxis k in order to additionally positively clamp the bundle 20 betweenclamp stop 1 and counter-stop 2 (FIG. 6F).

The Figure sequence FIG. 7A→FIG. 7B→FIG. 7C→FIG. 7D shows a placement ofa bundle 20 on a stop in a manner corresponding to FIG. 6A through 6F.

Insofar as the bundle 20 is clamped between clamp stop 1 andcounter-stop 2, the clamp stop 1 is initially shifted away from thecounter-stop 2 along the clamp axis 2, and the counter-stop 2 is raisedaway from the insertion plane E of the support plane 3 (FIGS. 7A, 7B).

The gripper 10 can then be lowered with the bundle 20 resting only onthe support base 3 (FIG. 7C). By shifting the support base 3 away fromthe clamp stop 1 along the insertion axis e (to the right in FIG. 7),the bundle 20 is pushed off the support base 3 onto the supportingsurface 30.

The Figure sequence FIG. 8A⇄FIG. 8B⇄FIG. 80⇄FIG. 8D⇄FIG. 8E shows apick-up or placement of the bundle 20 with the manipulator gripper 10 ina manner corresponding to FIG. 3A through 3D.

When the counter-stop 2 is raised along the lowering axis a, the gripper10 (accordingly rotated by the robot) is thereby positioned next to thesupporting surface 30 so that the lowering plane A of the counter-stop 2is arranged below the underside of the bundle 20 that faces away fromthe support base 3 (FIG. 8A).

The support base 3 is shifted beforehand, simultaneously or subsequentlytowards the lowering plane A of the counter-stop 2 (FIG. 8B).

The gripper 10 or the tool flange 6 is now shifted away from theinsertion plane E of the support base 3 in the lowering plane A of thecounter-stop 2 (to the right in FIG. 8C), wherein at the same time thecounter-stop 2 is lowered in the opposite direction towards theinsertion plane E of the support base 3 along the lowering axis a (tothe left in FIG. 8C). The bundle 20 is thereby shifted by the supportbase 3 from the supporting surface 30 onto the counter-stop 2.

By shifting the clamp stop 1 toward the counter-stop 2 along the clampaxis K, the bundle can now be clamped between clamp stop 1 andcounter-stop 2 (FIG. 8D), in particular, it can then be reoriented by arotation of the gripper 10 relative to the manipulator (FIG. 8E).

Although modifications and changes may be suggested by those skilled inthe art, it is the intention of the inventor to embody within the patentwarranted hereon all changes and modifications as reasonably andproperly come within the scope of his or contribution to the art.

1. A gripper for an automated manipulator for palletizing ordepalletizing bundles, comprising: a gripper assembly having a toolflange configured for connection to an automated manipulator; a supportbase movable by said gripper assembly toward and away from a bundle,said support base comprising engagement elements configured to engageand disengage said bundle, said engagement elements defining anengagement plane located at a distance from said tool flange; a stop anda counter-stop mounted on said gripper assembly relative to said supportbase to brace said bundle therebetween during engagement ordisengagement of said bundle by said engagement elements; and saidgripper assembly comprising a mechanism that interconnects said stop andsaid counter-stop and said support base and configured to selectivelychange respective distances between said stop and said counter-stop, andsaid insertion plane, in a direction substantially normal to saidinsertion plane.
 2. A gripper as claimed in claim 1 wherein said gripperassembly comprises a shifter mechanism connected to at least one of saidclamp stop and said counter-stop that changes a distance between saidclamp stop and said counter-stop substantially parallel to saidinsertion plane.
 3. A gripper as claimed in claim 2 wherein saidshifting mechanism is connected to said clamp stop and is configured todisplace said clamp stop relative to said counter-stop along saiddirection substantially parallel to said insertion plane.
 4. A gripperas claimed in claim 1 wherein said support base comprises a support baseflange connecting said support base to said gripper assembly thatproceeds substantially perpendicular to said insertion elements in saidinsertion plane.
 5. A gripper as claimed in claim 1 wherein each of saidclamp stop, said counter-stop and said support base has a shape selectedfrom the group consisting of plates and forks.
 6. A gripper as claimedin claim 1 wherein said mechanism is selected from the group consistingof pneumatically operated mechanisms, hydraulically operated mechanisms,electro-magnetically operated mechanisms, and electromotor operatedmechanisms.
 7. A gripper as claimed in claim 1 wherein said tool flangeis configured for rotationally movable connection thereof to saidautomated manipulator.
 8. A gripper as claimed in claim 1 comprising asensor arrangement configured to detect a position of at least saidinsertion plane relative to said bundle.
 9. A method for operating anautomated manipulator for palletizing or depalletizing bundles,comprising a gripper assembly having a tool flange configured forconnection to an automated manipulator, a support base movable by saidgripper assembly toward and away from a bundle, said support basecomprising engagement elements configured to engage and disengage saidbundle, said engagement elements defining an engagement plane located ata distance from said tool flange, and a stop and a counter-stop mountedon said gripper assembly relative to said support base to brace saidbundle therebetween during engagement or disengagement of said bundle bysaid engagement elements, said method comprising the steps of: providingsaid gripper assembly with a mechanism that interconnects said stop andsaid counter-stop and said support base; and operating said mechanism toselectively change respective distances between said stop and saidcounter-stop, and said insertion plane, in a direction substantiallynormal to said insertion plane.
 10. A method as claimed in claim 9comprising providing said gripper assembly with a shifter mechanismconnected to at least one of said clamp stop and said counter-stop, andoperating said shifter mechanism to change a distance between said clampstop and said counter-stop substantially parallel to said insertionplane.
 11. A method as claimed in claim 10 comprising connecting saidshifting mechanism to said clamp stop, and operating said shiftingmechanism to displace said clamp stop relative to said counter-stopalong said direction substantially parallel to said insertion plane. 12.A method as claimed in claim 9 comprising providing said support basewith a support base flange that connects said support base to saidgripper assembly, and orienting said support base flange substantiallyperpendicular to said insertion elements in said insertion plane.
 13. Amethod as claimed in claim 9 comprising providing each of said clampstop, said counter-stop and said support base with a shape selected fromthe group consisting of plates and forks.
 14. A method as claimed inclaim 9 comprising selecting said mechanism from the group consisting ofpneumatically operated mechanisms, hydraulically operated mechanisms,electro-magnetically operated mechanisms, and electromotor operatedmechanisms.
 15. A method as claimed in claim 9 comprising configuringsaid tool flange to produce a rotationally movable connection thereof tosaid automated manipulator.
 16. A method as claimed in claim 9comprising, with a sensor arrangement, detecting a position of at leastsaid insertion plane relative to said bundle.